WO2023155160A1 - Procédés et appareils de construction de limites de carte de piscine et de nettoyage de piscine, et dispositif électronique - Google Patents

Procédés et appareils de construction de limites de carte de piscine et de nettoyage de piscine, et dispositif électronique Download PDF

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Publication number
WO2023155160A1
WO2023155160A1 PCT/CN2022/076909 CN2022076909W WO2023155160A1 WO 2023155160 A1 WO2023155160 A1 WO 2023155160A1 CN 2022076909 W CN2022076909 W CN 2022076909W WO 2023155160 A1 WO2023155160 A1 WO 2023155160A1
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WIPO (PCT)
Prior art keywords
path
swimming pool
cleaning robot
preset
map
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Application number
PCT/CN2022/076909
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English (en)
Inventor
Zhongchao DING
Original Assignee
Beijing Smorobot Technology Co., Ltd
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Publication date
Application filed by Beijing Smorobot Technology Co., Ltd filed Critical Beijing Smorobot Technology Co., Ltd
Priority to PCT/CN2022/076909 priority Critical patent/WO2023155160A1/fr
Publication of WO2023155160A1 publication Critical patent/WO2023155160A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H4/00—Swimming or splash baths or pools
    • E04H4/14—Parts, details or accessories not otherwise provided for
    • E04H4/16—Parts, details or accessories not otherwise provided for specially adapted for cleaning
    • E04H4/1654—Self-propelled cleaners
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device

Definitions

  • Embodiments of this application relate to the technical field of swimming pool cleaning robot control, and in particular, to swimming pool map boundary construction and swimming pool cleaning methods and apparatuses, an electronic device, and a storage medium.
  • a swimming pool cleaning robot is a cleaning robot produced for a swimming pool cleaning need, which can perform a swimming pool map boundary construction task and perform a swimming pool cleaning task based on a constructed swimming pool map.
  • the method for swimming pool map boundary construction is not efficient or reasonable, which leads to the problem of inaccurate boundaries of the constructed swimming pool map and causes adverse effects on the swimming pool cleaning task performedbased on the constructed swimming pool map.
  • a swimming pool map boundary construction method is needed, which makes the swimming pool map boundary construction more efficient, reasonable and accurate, so as to complete the swimming pool cleaning task more comprehensively.
  • embodiments of this application provide a swimming pool map boundary construction method, including: controlling a swimming pool cleaning robot to move forward and backward relative to each preset path in a swimming pool map that covers a swimming pool, within a working area defined by the swimming pool, to determine two path endpoints of each preset path; and constructing map boundaries of the swimming pool map based on the determined two path endpoints of each preset path in the swimming pool map.
  • the swimming pool map is generated by: generating, based on an initial position and aninitial orientation of the swimming pool cleaning robot, the swimming pool map that covers the working area ofthe swimming pool, whereeach preset path in the swimming pool map is parallel to the initial orientation of the swimming pool cleaning robot.
  • the initial position and the initial orientation of the swimming pool cleaning robot may be determined by: determining the initial position and the initial orientation of the swimming pool cleaning robot based on a position and an orientation of the swimming pool cleaning robot at a bottom of the swimming pool after freely sinking to the bottom of the swimming pool; or, controlling the swimming pool cleaning robot to move relative to the bottom of the swimming pool to a designated position and a designated orientation according to a movement instruction, and determining the designated position and the designated orientation as the initial position and initial orientation of the swimming pool cleaning robot.
  • controlling a swimming pool cleaning robot to move forward and backward along each preset path in a swimming pool map within a working area defined by the swimming pool, to determine two path endpoints of each preset path includes: determining a preset path where the swimming pool cleaning robot is currently located in the swimming pool map as the current path; controlling the swimming pool cleaning robot to move backward and forward relative to the current path based on a preset orientation parallel to the current path within the working area defined by the swimming pool until the swimming pool cleaning robot collides with the side walls of the swimming pool at two opposite ends of the current path respectively, to determine two path endpoints of the current path; controlling the swimming pool cleaning robot, according to a preset movement algorithm, to move from the current path to a preset path which is adjacent to the current path and of which two path endpoints have not been determined; and returning to and continuing with the step of determining the preset path where the swimming pool cleaning robot is currently located in the swimming pool map as the current path until two path endpoints of each preset path
  • controlling the swimming pool cleaning robot to move backward and forward relative to the current path based on the preset orientation parallel to the current path within the working area defined by the swimming pool until the swimming pool cleaning robot collides with the side walls of the swimming pool at the two opposite ends of the current path respectively, to determine the two path endpoints of the current path includes: controlling the swimming pool cleaning robot to move backward relative to the current path based on the preset orientation until the swimming pool cleaning robot collides with the side wall of the swimming pool at a first end of the current path, and determining a first path endpoint of the current path based on the current position of the swimming pool cleaning robot relative to the current path; and controlling the swimming pool cleaning robot to move forward relative to the current path based on the preset orientation until the swimming pool cleaning robot collides with the side wall of the swimming pool at a second end of the current path, and determining a second path endpoint of the current path based on the current position of the swimming pool cleaning robot relative to the current path.
  • controlling the swimming pool cleaning robot, according to a preset movement algorithm, to move from the current path to a preset path which is adjacent to the current path and of which two path endpoints have not been determined includes: determining, based on the current path, a preset path of which two path endpoints have not been determined and which is adjacent to the current path in the swimming pool map as a target path; and controlling the swimming pool cleaning robot to perform a U-turn according to the preset movement algorithm, so that the swimming pool cleaning robot moves from the current path to the target path, and the U-turn orientation of the swimming pool cleaning robot after completion of the U-turn is opposite to the preset orientation.
  • returning to andcontinuingwith the step of determining the preset path where the swimming pool cleaning robot is currently located in the swimming pool map as the current path includes: updating the U-turn orientation of the swimming pool cleaning robot after completion of the U-turn as the preset orientation, and returning to andcontinuingwith the step of determining the preset path where the swimming pool cleaning robot is currently located in the swimming pool map as the current path.
  • controlling the swimming pool cleaning robot to perform a U-turn according to the preset movement algorithm includes: controlling the swimming pool cleaning robot to perform the U-turn based on a right-angle turning mode or an arc turning mode, so that the U-turn orientation of the swimming pool cleaning robot after completion of the U-turn is opposite to the preset orientation.
  • the method further includes: determining each preset path of which two path endpoints have not been determined in the swimming pool map as a candidate path when there is no preset path of which two path endpoints have not been determined and which is adjacent to the current path in the swimming pool map, ; determining the candidate path having the shortest moving distance from the current path as a target path based on the current path and each candidate path and according to a preset path finding algorithm; and controlling the swimming pool cleaning robot to move from the current path to the target path according to the preset path finding algorithm, and returning to andcontinuingwith the step of determining the preset path where the swimming pool cleaning robot is currently located in the swimming pool map as the current path.
  • each preset path in the swimming pool map includes at least one grid zone; the method further includes: for each preset path in the swimming pool map, based on the two path endpoints of the preset path, determining each grid zone in the preset path between the two path endpoints as a cleaning zone.
  • a swimming pool cleaning method including: controlling a swimming pool cleaning robot to traverse each cleaning path based on two path endpoints of each cleaning path in a cleaning map corresponding to a swimming pool, to clean the swimming pool, wherethe two path endpoints of each cleaning path in the cleaning map are determined using the swimming pool map boundary construction method in the above aspect.
  • a swimming pool map boundary construction apparatus including: an endpoint determination module, configured to control a swimming pool cleaning robot to move forward and backward relative to each preset path in a swimming pool map that covers a swimming pool within a working area defined by the swimming pool, to determine two path endpoints of each preset path; and a boundary construction module, configured to construct map boundaries of the swimming pool map based on the determined two path endpoints of each preset path in the swimming pool map.
  • a swimming pool cleaning apparatus which is configured to control a swimming pool cleaning robot to traverse each cleaning path in a cleaning map corresponding to a swimming pool based on two path endpoints of each cleaning path, to clean the swimming pool, wherethe two path endpoints of each cleaning path in the cleaning map are determined using the above-mentioned swimming pool map boundary construction apparatus.
  • an electronic device including: a processor; and a memory storing a program, wherethe program includes instructions that, when executed by the processor, cause the processor to perform the methods of the above aspects.
  • a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to cause a computer to perform the methods of the above aspects.
  • a swimming pool cleaning robot is controlled to move forward and backward relative to each preset path in a swimming pool map that covers a swimming pool within a working area defined by the swimming pool, to determine two path endpoints of each preset path, and map boundaries of the swimming pool map are constructed based on the determined two path endpoints of each preset path in the swimming pool map, so that the construction of swimming pool map boundaries is more efficient, reasonable and accurate.
  • the swimming pool cleaning task performed based on the swimming pool map constructed by the above method in this application can realize comprehensive cleaning of the swimming pool and avoid omissions.
  • FIG. 1 is a schematic flowchart of a swimming pool map boundary construction method according to an exemplary embodiment of this application;
  • FIG. 2 is a schematic flowchart of a swimming pool map boundary construction method according to another exemplary embodiment of this application;
  • FIG. 3 is a schematic flowchart of a swimming pool map boundary construction method according to another exemplary embodiment of this application.
  • FIG. 4 is a schematic flowchart of a swimming pool map boundary construction method according to another exemplary embodiment of this application.
  • FIG. 5 is a schematic flowchart of a swimming pool map boundary construction method according to another exemplary embodiment of this application.
  • FIG. 6 is a schematic flowchart of a swimming pool cleaning method according to an exemplary embodiment of this application.
  • FIG. 7 is a structural block diagram of a swimming pool map boundary construction apparatus according to an exemplary embodiment of this application.
  • FIG. 8 is a structural block diagram of an electronic device according to an exemplary embodiment of this application.
  • FIGS. 9A to 9G are schematic diagrams of scenario applications of the swimming pool map boundary construction method according to exemplary embodiments of this application.
  • 700 swimming pool map boundary construction apparatus; 702. endpoint determination module; 704. boundary construction module; 800. electronic device; 801. computing unit; 802. ROM; 803. RAM; 804. bus; 805. input/output interface; 806. input unit; 807. output unit; 808. storage unit; 809. communication unit.
  • this application proposes a swimming pool map boundary construction method and apparatus, an electronic device, and a swimming pool cleaning method, which can solve the above various problems existing in the prior art.
  • FIG. 1 is a schematic flowchart of a swimming pool map boundary construction method according to an exemplary embodiment of this application. As shown in the figure, this embodiment mainly includes the following steps.
  • Step S102 A swimming pool cleaning robot is controlled to move forward and backward relative to each preset path in a swimming pool map that covers a swimming pool within a working area defined by the swimming pool, to determine two path endpoints of each preset path.
  • the swimming pool map may be generated by the following step: The swimming pool map that covers the working area ofthe swimming pool is generated based on the initial position and initial orientation of the swimming pool cleaning robot.
  • Each preset path in the swimming pool map is parallel to the initial orientation of the swimming pool cleaning robot.
  • two adjacent preset paths in the swimming pool map may border each other or partially overlap each other.
  • the preset paths preferably border each other, and multiple rows of adjacent preset paths are generated to cover the entire swimming pool map.
  • the width of each preset path may be determined based on the body size of the robot, so as to cover each preset path when the swimming pool cleaning robot performs a cleaning task.
  • the initial position and initial orientation of the swimming pool cleaning robot may be determined in the following way.
  • the initial position and initial orientation of the swimming pool cleaning robot may be determined based on the position and orientation of the swimming pool cleaning robot at a bottom of the swimming pool after freely sinking to the bottom of the swimming pool. Specifically, after the swimming pool cleaning robot is put into the swimming pool, the position and orientation of the swimming pool cleaning robot at the bottom of the swimming pool after freely sinking to the bottom of the swimming pool may be determined as the initial position and initial orientation of the swimming pool cleaning robot.
  • the swimming pool cleaning robot is also controlled to move relative to the swimming pool to a designated position and a designated orientation according to a movement instruction, and the designated position and designated orientation are determined as the initial position and initial orientation of the swimming pool cleaning robot.
  • the swimming pool cleaning robot may be controlled to move relative to the bottom of the swimming pool according to the movement instruction until the expected designated position and orientation are satisfied, so as to determine the initial position and initial orientation of the swimming pool cleaning robot.
  • Step S104 Map boundaries of the swimming pool map are constructed based on the determined two path endpoints of each preset path in the swimming pool map.
  • the swimming pool cleaning robot may be controlled to traverse each preset path in the swimming pool map in combination with a preset movement algorithm and a preset path finding algorithm, to determine two path endpoints of each preset path, so as to construct the map boundaries of the swimming pool map.
  • a swimming pool cleaning robot is controlled to move forward and backward relative to each preset path in a swimming pool map that covers a swimming pool within a working area defined by the swimming pool, to determine two path endpoints of each preset path, and map boundaries of the swimming pool map are constructed based on the determined two path endpoints of each preset path in the swimming pool map, so that the construction of swimming pool map boundaries is more efficient, reasonable and accurate.
  • FIG. 2 is a schematic flowchart of a swimming pool map boundary construction method according to another exemplary embodiment of this application.
  • This embodiment mainly shows a specific implementation scheme of step S102 above. As shown in the figure, this embodiment mainly includes the following steps.
  • Step S202 Apreset path where the swimming pool cleaning robot is currently located in the swimming pool map is determined as the current path.
  • the preset path at the initial position when the swimming pool cleaning robot falls to the bottom of the swimming pool may be first determined as the current path, and the current path in the swimming pool map may be updated based on the preset path where the swimming pool cleaning robot is currently actually located in the subsequent process of constructing the map boundaries of the swimming pool map.
  • the preset path at the initial position 0 of the swimming pool cleaning robot is determined as the current path.
  • Step S204 The swimming pool cleaning robot is controlled to move backward and forward relative to the current path based on a preset orientation parallel to the current path within the working area defined by the swimming pool until the swimming pool cleaning robot collides with the side walls of the swimming pool at two opposite ends of the current path respectively, to determine two path endpoints of the current path.
  • the preset orientation of the swimming pool cleaning robot at this time is the positive direction of the X axis.
  • the swimming pool cleaning robot can move backward and forward along the current path. During the movement, the swimming pool cleaning robot will collide with the side walls of the swimming pool at points A and B respectively, and the points A and B are respectively determined as the two endpoints of the current path accordingly.
  • Step S206 Whether the two path endpoints of each preset path in the swimming pool map have been determined is determined.
  • Step S208 If the two path endpoints of each preset path in the swimming pool map have been determined, the process ends; if the two path endpoints of each preset path in the swimming pool map have not been determined, the swimming pool cleaning robot is controlled according to a preset movement algorithm to move from the current path to a preset path which is adjacent to the current path and of which two path endpoints have not been determined.
  • the construction task of the swimming pool map boundaries is completed, and the process ends; if there are still undetermined path endpoints, the swimming pool cleaning robot is controlled to move from the current path to a preset path which is adjacent to the current path and of which two path endpoints have not been determined, and step 202 is continued until the two path endpoints of the preset paths in the swimming pool map have been determined.
  • FIG. 3 shows a schematic flowchart of a swimming pool map boundary construction method according to another exemplary embodiment of this application.
  • This embodiment is a specific implementation scheme of step S204 above. As shown in the figure, this embodiment mainly includes the following steps.
  • Step S302 The swimming pool cleaning robot is controlled to move backward relative to the current path based on the preset orientation until the swimming pool cleaning robot collides with the side wall of the swimming pool at a first end of the current path, and a first path endpoint of the current path is determined based on the current position of the swimming pool cleaning robot relative to the current path.
  • Step S304 The swimming pool cleaning robot is controlled to move forward relative to the current path based on the preset orientation until the swimming pool cleaning robot collides with the side wall of the swimming pool at a second end of the current path, and a second path endpoint of the current path is determined based on the current position of the swimming pool cleaning robot relative to the current path.
  • the swimming pool cleaning robot is currently located at 0 in a preset path of the swimming pool map (that is, the initial position when the swimming pool cleaning robot falls to the bottom of the swimming pool)
  • the preset path at the initial position 0 of the swimming pool cleaning robot is determined as the current path.
  • the preset orientation of the swimming pool cleaning robot is the positive direction of the X axis.
  • the swimming pool cleaning robot can be controlled to move backward (i.e., the negative direction of the X axis) relative to the current path based on the positive direction of the X axis until the swimming pool cleaning robot collides with the side wall A of the swimming pool at the first end of the current path, and the first path endpoint A of the current path can be determined based on the position of the swimming pool cleaning robot relative to the current path.
  • the swimming pool cleaning robot is then controlled to move forward (i.e., the positive direction of the X axis) relative to the current path based on the positive direction of the X axis until the swimming pool cleaning robot collides with the side wall B of the swimming pool at the second end of the current path, and the second path endpoint B of the current path can be determined based on the current position of the swimming pool cleaning robot relative to the current path.
  • the two path endpoints of the current path can be quickly and accurately determined, and the accuracy of construction results of swimming pool map boundaries can be improved.
  • FIG. 4 shows a schematic flowchart of a swimming pool map boundary construction method according to another exemplary embodiment of this application.
  • This embodiment is a specific implementation scheme of step S208 above. As shown in the figure, this embodiment mainly includes the following steps.
  • Step S402 A preset path of which two path endpoints have not been determined and which is adjacent to the current path in the swimming pool map is queried based on the current path.
  • Step S404 Whether there is a matching preset path is determined, and if there is, step S406 is performed, or if there is no, step S410 is performed.
  • Step S406 The queried preset path is determined as a target path.
  • the preset path is taken as the target path.
  • Step S408 The swimming pool cleaning robot is controlled to perform a U-turn according to the preset movement algorithm, so that the swimming pool cleaning robot moves from the current path to the target path, and the U-turn orientation of the swimming pool cleaning robot after completion of the U-turn is opposite to the preset orientation. Step S202 is continued after completion of the U-turn.
  • the swimming pool cleaning robot is controlled to perform the U-turn based on a right-angle turning mode or an arc turning mode, so that the U-turn orientation of the swimming pool cleaning robot after completion of the U-turn is opposite to the preset orientation.
  • the right-angle turning mode may be that, when colliding with the side wall of the swimming pool at one end of the current path, the swimming pool cleaning robot turns 90 degrees clockwise for successive two times, or turns 90 degrees counterclockwise for successive two times, to complete a 180-degree U-turn, and the U-turn orientation after completion of the U-turn is opposite to the preset orientation.
  • the swimming pool cleaning robot determines that the two path endpoints of the adjacent preset path (for example, CD path) have not been determined, the preset path is taken as the target path.
  • the swimming pool cleaning robot can be controlled to turn 90° clockwise at point B so that its orientation is opposite to the CD path (for example, the negative direction of the Y axis) , and the swimming pool cleaning robot is controlled to move forward, enter the CD path from the AB path, and then turns 90° clockwise so that the U-turn orientation of the swimming pool cleaning robot is opposite to the preset orientation (for example, the negative direction of the X axis) , thereby completing the movement from the current path (for example, the AB path) to the target path (for example, the CD path) .
  • the current path for example, the AB path
  • the target path for example, the CD path
  • the swimming pool cleaning robot can be controlled to perform clockwise arc turning or counterclockwise arc turning by means of differential motion (that is, the speeds of an inner wheel and an outer wheel have a speed difference when turning, and the speed of the inner wheel is less than that of the outer wheel) when colliding with the side wall of the swimming pool at one end of the current path, so as to complete the movement from the current path to the target path.
  • differential motion that is, the speeds of an inner wheel and an outer wheel have a speed difference when turning, and the speed of the inner wheel is less than that of the outer wheel
  • the swimming pool cleaning robot determines that the two path endpoints of the adjacent preset path (for example, EF path) have not been determined, the preset path is taken as the target path.
  • the swimming pool cleaning robot is controlled at point D to perform counterclockwise differential motion to move towards the EF path until the U-turn orientation of the swimming pool cleaning robot is opposite to the preset orientation (for example, the positive direction of the X axis) , and the swimming pool cleaning robot moves from the CD path to the EF path.
  • the U-turn orientation of the swimming pool cleaning robot after completion of the U-turn is updated as a preset orientation, and then step S202 is continued.
  • the preset orientation of the swimming pool cleaning robot is the positive direction of the X axis.
  • the orientation of the swimming pool cleaning robot is the negative direction of the X axis, the direction (the negative direction of the X axis) is updated as a preset orientation, then step S202 is performed to determine a preset path (CD path) where the swimming pool cleaning robot is currently located as the current path, the swimming pool cleaning robot moves backward and forward respectively, and the two path endpoints C and D of the current path can be determined.
  • CD path preset path
  • Step S410 Whether there are preset paths of which two path endpoints have not been determined in the swimming pool map is determined.
  • Step S412 If there are preset paths of which two path endpoints have not been determined in the swimming pool map, each preset path of which two path endpoints have not been determined in the swimming pool map is determined as a candidate path; or if there are nopreset paths of which two path endpoints have not been determined in the swimming pool map, the process ends.
  • Step S414 The candidate path having the shortest moving distance from the current path is determined as a target path based on the current path and each candidate path and according to a preset path finding algorithm.
  • the preset path finding algorithm may be an A-STAR algorithm, but is not limited thereto, and other path finding algorithms may also be used, which is not limited in this application.
  • the candidate path having the shortest moving distance is selected as the target path based on the moving distance of the swimming pool cleaning robot from the current path to each candidate path and according to the preset path finding algorithm.
  • Step S416 The swimming pool cleaning robot is controlled to move from the current path to the target path according to the preset path finding algorithm, the orientation of the swimming pool cleaning robot matches the preset orientation, and step S202 is then continued.
  • step S202 is then performed to determine a preset path where the swimming pool cleaning robot is currently located as the current path, and the swimming pool cleaning robot is controlled to move backward and forward respectively, to determine two path endpoints of next preset path.
  • FIG. 5 shows a schematic flowchart of a swimming pool map boundary construction method according to another exemplary embodiment of this application.
  • This embodiment is a subsequent optional implementation scheme of step S104 above. As shown in the figure, this embodiment mainly includes the following steps.
  • Step S502 For each preset path in the swimming pool map, based on the two path endpoints of the preset path, each grid zone in the preset path between the two path endpoints is determined as a cleaning zone.
  • each preset path in the swimming pool map includes at least one grid zone.
  • each grid zone in the preset path between the two path endpoints is determined as a cleaning zone.
  • the size of each grid zone (i.e., the length and width of the grid zone) in the preset path may be determined based on a preset stepping distance of the swimming pool cleaning robot.
  • the preset stepping distance of the swimming pool cleaning robot may be generated based on the size of the swimming pool cleaning robot (e.g., the length and width of the swimming pool cleaning robot) .
  • Step S504 A complete cleaning map is constructed based on the two path endpoints of each preset path and each cleaning zone in each preset path.
  • a more complete cleaning map is constructed based on the two path endpoints of each preset path and each cleaning zone in each preset path, with more accurate map boundaries, so as to perform a cleaning task based on the cleaning map with better effect.
  • An exemplary embodiment of this application further provides a swimming pool cleaning method, which can control a swimming pool cleaning robot to traverse each cleaning path based on two path endpoints of each cleaning path in a cleaning map corresponding to a swimming pool, to clean the swimming pool.
  • the two path endpoints of each cleaning path in the cleaning map may be determined using the swimming pool map boundary construction method described in the above embodiments.
  • FIG. 6 is a schematic flowchart of a swimming pool cleaning method according to an exemplary embodiment of this application. As shown in the figure, this embodiment specifically includes the following steps.
  • Step S602 A swimming pool cleaning robot is controlled to move between different cleaning paths according to a preset path finding algorithm.
  • a path endpoint having the shortest moving distance from the swimming pool cleaning robot may be determined as a target endpoint based on a path endpoint in a cleaning path where the swimming pool cleaning robot is currently located and two path endpoints of each uncleaned cleaning path in a cleaning map and according to a preset path finding algorithm, and the cleaning path including the target endpoint is determined as a cleaning path to be cleaned.
  • the preset path finding algorithm may include an A-STAR algorithm, but is not limited thereto, and other path finding algorithms may also be used, which is not limited in this application.
  • a cleaning path CD thatincludes a path endpoint having the shortest moving distance from the swimming pool cleaning robot is found based on two path endpoints of each uncleaned cleaning path in the cleaning map and according to the preset path finding algorithm, then the path endpoint C of the cleaning path CD is determined as a target endpoint, and the cleaning path CD is determined as a cleaning path to be cleaned by the swimming pool cleaning robot.
  • the swimming pool cleaning robot may be controlled according to the preset path finding algorithm to move toward the target endpoint, so as to move from the current cleaning path to the cleaning path to be cleaned.
  • the swimming pool cleaning robot may be controlled to move toward the target endpoint based on a moving path generated by the preset path finding algorithm (e.g., A-STAR algorithm) , so as to move from the current cleaning path to the cleaning path to be cleaned.
  • the preset path finding algorithm e.g., A-STAR algorithm
  • Step S604 The swimming pool cleaning robot is controlled to move in each cleaning path according to a preset cleaning movement algorithm.
  • one of the two path endpoints of the current cleaning path that matches the target endpoint may be determined as a starting endpoint, the other one of the two path endpoints may be determined as a termination endpoint, and the swimming pool cleaning robot is controlled to move from the starting endpoint to the termination endpoint to traverse the current cleaning path.
  • the path endpoint E that matches the target endpoint may be determined as a starting endpoint, and the path endpoint F may be determined as a termination endpoint, to drive the swimming pool cleaning robot to move from the path endpoint E to the path endpoint F, so as to traverse the current cleaning path EF.
  • Step S606 Whether the swimming pool cleaning robot has traversed each cleaning path in a cleaning map is determined. If the swimming pool cleaning robot has traversed each cleaning path, the process ends; if the swimming pool cleaning robot has not traversed each cleaning path, step S602 is continued.
  • step S604 may be first performed and then step S602 may be performed, and the two steps may be alternately performed until the swimming pool cleaning robot has traversed each cleaning path in the cleaning map.
  • step S604 is first performed to determine, based on two path endpoints of a cleaning path where the swimming pool cleaning robot is currently located, one of the two path endpoints that has the shorter moving distance from the swimming pool cleaning robot as a starting endpoint, and the other one of the two path endpoints as a termination endpoint, to drive the swimming pool cleaning robot to perform a cleaning task in the current cleaning path, and after the cleaning is completed, step S602 is continued.
  • FIG. 7 shows a structural block diagram of a swimming pool map boundary construction apparatus according to an exemplary embodiment of this application.
  • the swimming pool map boundary construction apparatus 700 in this embodiment may be installed in a swimming pool cleaning robot, which may be adapted to perform a swimming pool map boundary construction task.
  • the swimming pool map boundary construction apparatus 700 in this embodiment mainly includes an endpoint determination module 702 and a boundary construction module 704.
  • the endpoint determination module 702 is configured to control a swimming pool cleaning robot to move forward and backward relative to each preset path in a swimming pool map that covers a swimming pool within a working area defined by the swimming pool, to determine two path endpoints of each preset path.
  • the boundary construction module 704 is configured to construct map boundaries of the swimming pool map based on the determined two path endpoints of each preset path in the swimming pool map.
  • the swimming pool map boundary construction apparatus 700 further includes a map generating module, configured to generate, based on the initial position and initial orientation of the swimming pool cleaning robot, the swimming pool map that covers the working area of the swimming pool, where each preset path in the swimming pool map is parallel to the initial orientation of the swimming pool cleaning robot.
  • the initial position and initial orientation of the swimming pool cleaning robot may be determined by: determining the initial position and initial orientation of the swimming pool cleaning robot based on the position and orientation of the swimming pool cleaning robot at a bottom of the swimming pool after freely sinking to the bottom of the swimming pool; or, controlling the swimming pool cleaning robot to move relative to the bottom of the swimming pool to a designated position and a designated orientation according to a movement instruction, and determining the designated position and designated orientation as the initial position and initial orientation of the swimming pool cleaning robot.
  • the endpoint determination module 702 is further configured to: determine a preset path where the swimming pool cleaning robot is currently located in the swimming pool map as the current path; control the swimming pool cleaning robot to move backward and forward relative to the current path based on a preset orientation parallel to the current path within the working area defined by the swimming pool until the swimming pool cleaning robot collides with the side walls of the swimming pool at two opposite ends of the current path respectively, to determine two path endpoints of the current path; control the swimming pool cleaning robot, according to a preset movement algorithm, to move from the current path to a preset path which is adjacent to the current path and of which two path endpoints have not been determined; and return to andcontinuingwith the step of determining a preset path where the swimming pool cleaning robot is currently located in the swimming pool map as the current path until two path endpoints of each preset path in the swimming pool map are determined.
  • the endpoint determination module 702 is further configured to: control the swimming pool cleaning robot to move backward relative to the current path based on the preset orientation until the swimming pool cleaning robot collides with the side wall of the swimming pool at a first end of the current path, and determine a first path endpoint of the current path based on the current position of the swimming pool cleaning robot relative to the current path; and control the swimming pool cleaning robot to move forward relative to the current path based on the preset orientation until the swimming pool cleaning robot collides with the side wall of the swimming pool at a second end of the current path, and determine a second path endpoint of the current path based on the current position of the swimming pool cleaning robot relative to the current path.
  • the endpoint determination module 702 is further configured to: determine, based on the current path, a preset path of which two path endpoints have not been determined and which is adjacent to the current path in the swimming pool map as a target path; and control the swimming pool cleaning robot to perform a U-turn according to the preset movement algorithm, so that the swimming pool cleaning robot moves from the current path to the target path, and the U-turn orientation of the swimming pool cleaning robot after completion of the U-turnis opposite to the preset orientation.
  • the endpoint determination module 702 is further configured to: update the U-turn orientation of the swimming pool cleaning robot after completion of the U-turn as a preset orientation, and return to andcontinuingwith the step of determining a preset path where the swimming pool cleaning robot is currently located in the swimming pool map as the current path.
  • the endpoint determination module 702 is further configured to: control the swimming pool cleaning robot to perform the U-turn based on a right-angle turning mode or an arc turning mode, so that the U-turn orientation of the swimming pool cleaning robot after completion of the U-turn is opposite to the preset orientation.
  • the endpoint determination module 702 is further configured to: determine the candidate path having the shortest moving distance from the current path as a target path based on the current path and each candidate path and according to a preset path finding algorithm; and control the swimming pool cleaning robot to move from the current path to the target path according to the preset path finding algorithm, and return to andcontinuingwith the step of determining a preset path where the swimming pool cleaning robot is currently located in the swimming pool map as the current path.
  • the swimming pool map boundary construction apparatus 700 may be further configured to, for each preset path in the swimming pool map, based on the two path endpoints of the preset path, determine each grid zone in the preset path between the two path endpoints as a cleaning zone.
  • swimming pool map boundary construction apparatus 700 in the embodiment of this application may also be configured to implement other steps in the foregoing embodiments of the swimming pool map boundary construction method, and has the beneficial effects of the corresponding method step embodiments, which will not be repeated here.
  • An exemplary embodiment of this application further provides a swimming pool cleaning apparatus, which is installed in a swimming pool cleaning robot, where the swimming pool cleaning robot can be adapted to perform a swimming pool cleaning task.
  • the swimming pool cleaning apparatus in this embodiment is configured to control the swimming pool cleaning robot to traverse each cleaning path based on two path endpoints of each cleaning path in a cleaning map corresponding to a swimming pool, to clean the swimming pool, wherethe two path endpoints of each cleaning path in the cleaning map are determined using the swimming pool map boundary construction apparatus in the above-mentioned embodiment.
  • An exemplary embodiment of this application further provides an electronic device, including: at least one processor; and a memory in communication connection with the at least one processor.
  • the memory stores a computer program executable by the at least one processor, the computer program being used to cause the electronic device to perform the methods according to the embodiments of this application when executed by the at least one processor.
  • An exemplary embodiment of this application further provides a non-transitory computer-readable storage medium storing computer instructions, where the computer program, when executed by a processor of a computer, is used to cause the computer to perform the methods according to the embodiments of this application.
  • An exemplary embodiment of this application further provides a computer program product, including a computer program, where the computer program, when executed by a processor of a computer, is used to cause the computer to perform the methods according to the embodiments of this application.
  • the electronic device 800 is intended to represent various forms of digital electronic computer devices, such as a laptop, a desktop, a worktable, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers.
  • the electronic device may also represent various forms of mobile devices, such as a personal digital assistant, a cellular phone, a smart phone, a wearable device, and other similar computing devices.
  • mobile devices such as a personal digital assistant, a cellular phone, a smart phone, a wearable device, and other similar computing devices.
  • the electronic device 800 includes a computing unit 801, which may perform various appropriate operations and processes based on computer programs stored in a read-only memory (ROM) 802 or computer programs loaded from a storage unit 808 to a random access memory (RAM) 803.
  • the RAM 803 may also store various programs and data required by the operations of the device 800.
  • the computing unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804.
  • An input/output (I/O) interface 805 is also connected to the bus 804.
  • a plurality of components in the electronic device 800 is connected to the I/O interface 805, including: an input unit 806, an output unit 807, a storage unit 808, and a communication unit 809.
  • the input unit 806 may be any type of device capable of inputting information to the electronic device 800, and the input unit 806 may receive input numerical or character information and generate key signal input related to user settings and/or function control of the electronic device.
  • the output unit 807 may be any type of device capable of presenting information, and may include, but is not limited to, a display, a speaker, a video/audio output terminal, a vibrator, and/or a printer.
  • the storage unit 804 may include, but is not limited to, a magnetic disk and an optical disk.
  • the communication unit 809 allows the electronic device 800 to exchange information/data with other devices through computer networks such as the Internet and/or various telecommunication networks, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver and/or a chipset, such as a Bluetooth TM device, a WiFi device, a WiMax device, a cellular communication device and/or the like.
  • the computing unit 801 may be a variety of general-purpose and/or dedicated processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU) , a graphics processing unit (GPU) , various specialized artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, a digital signal processor (DSP) , and any suitable processor, controller, microcontroller, etc.
  • the computing unit 801 performs the various methods and processes described above.
  • the swimming pool cleaning method in the foregoing embodiments may be implemented as a computer software program tangibly included in a machine-readable medium, such as the storage unit 808.
  • part or all of the computer program may be loaded and/or installed to the electronic device 800 via the ROM 802 and/or the communication unit 809.
  • the computing unit 801 may be configured to perform the swimming pool cleaning method by any other suitable means (for example, by means of firmware) .
  • Program codes for implementing the methods of this application may be written in one programming language or any combination of more programming languages.
  • the program codes may be provided to a processor or controller of a general purpose computer, a special purpose computer or other programmable data processing apparatus, so that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowcharts and/or block diagrams to be implemented.
  • the program codes may be completely executed on a machine, partially executed on a machine, partially executed on a machine and partially executed on a remote machine as a separate software package, or completely executed on a remote machine or a server.
  • the machine-readable medium may be a tangible medium that may include or store programs used by an instruction execution system, apparatus or device or used with the instruction execution system, apparatus or device.
  • the machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium.
  • the machine-readable medium may include, but is not limited to, electric, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, devices, or a combination of any of the above.
  • machine-readable storage medium may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM) , a read-only memory (ROM) , an erasable programmable read-only memory (EPROM or flash memory) , a fiber, a portable compact disk read-only memory (CD-ROM) , an optical memory, a magnet memory, or any suitable combination of the above.
  • RAM random access memory
  • ROM read-only memory
  • EPROM or flash memory erasable programmable read-only memory
  • CD-ROM portable compact disk read-only memory
  • magnet memory or any suitable combination of the above.
  • machine-readable medium and “computer-readable medium” refer to any computer program product, device, and/or apparatus (for example, a magnetic disk, an optical disk, a memory, and a programmable logic device (PLD) ) for providing machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as machine-readable signals.
  • machine-readable signal refers to any signal used to provide machine instructions and/or data to the programmable processor.
  • the system and technology described herein may be implemented on a computer, the computer including: a display device (for example, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user) ; and a keyboard and a pointing device (for example, a mouse or a trackball) through which the user can provide input to the computer.
  • a display device for example, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor
  • a keyboard and a pointing device for example, a mouse or a trackball
  • Other types of devices may also be used to provide interaction with the user, for example, the feedback provided to the user may be any form of sensory feedback (for example, visual feedback, auditory feedback, or tactile feedback) ; and may be in any form (including acoustic input, voice input, or tactile input) to receive input from the user.
  • the system and technology described herein may be implemented on a computing system including back-end components (for example, serving as a data server) , or a computing system including middleware components (for example, an application server) , or a computing system including front-end components (for example, a user computer having a graphical user interface or a web browser through which the user can interact with the embodiments of the system and technology described herein) , or a computing system including any combination of such back-end components, middleware components, or front-end components.
  • the components of the system may be interconnected by any form or medium of digital data communication (for example, a communication network) . Examples of the communication network include: a Local Area Network (LAN) , a Wide Area Network (WAN) , and the Internet.
  • the computer system may include a client and a server.
  • the client and the server are generally remote from each other and usually interact through a communication network.
  • the relationship between the client and the server is generated by virtue of computer programs running on corresponding computers and having a client-server relationship to each other.

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  • Structural Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
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Abstract

La présente demande concerne des procédés et des appareils de construction de limites de carte de piscine et de nettoyage de piscine, ainsi qu'un dispositif électronique. Un robot de nettoyage de piscine est amené à se déplacer vers l'avant et vers l'arrière relativement à chaque chemin prédéfini dans une carte de piscine qui couvre une piscine à l'intérieur d'une zone de travail définie par la piscine, en vue de déterminer deux points d'extrémité de chemin de chaque chemin prédéfini, et des limites de carte de la carte de piscine sont construites sur la base des deux points d'extrémité de chemin déterminés de chaque chemin prédéfini dans la carte de piscine, de telle sorte que la construction de limites de carte de piscine est plus efficace, raisonnable et précise. De plus, la tâche de nettoyage de piscine effectuée sur la base de la carte de piscine construite par le procédé ci-dessus dans cette application peut réaliser un nettoyage complet de la piscine et éviter toute omission.
PCT/CN2022/076909 2022-02-18 2022-02-18 Procédés et appareils de construction de limites de carte de piscine et de nettoyage de piscine, et dispositif électronique WO2023155160A1 (fr)

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